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13 results on '"Fabrice Le Bars"'

1. Non-linear control under state constraints with validated trajectories for a mobile robot towing a trailer

Author

Joris Tillet, Luc Jaulin, Fabrice Le Bars, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)

Subjects
0209 industrial biotechnology, tank-trailer, Computer science, Lie derivatives, state constraints, Trailer, Mobile robot, 0102 computer and information sciences, 02 engineering and technology, Nonlinear control, 01 natural sciences, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Set (abstract data type), Nonlinear system, 020901 industrial engineering & automation, 010201 computation theory & mathematics, Control theory, mobile robots, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Robot, Interval analysis, nonlinear control, Towing
Abstract

International audience; In this paper, we propose a set-inversion approach to validate the controller of a nonlinear system that should satisfy some state constraints. We introduce the notion of follow set which corresponds to the set of all output vectors such that the desired dynamics can be followed without violating the state-constraints. This follow set can then be used to choose feasible trajectories that a mobile robot will be able to follow. An illustrative example with a robot towing a trailer is presented. This example is motivated by the safe control of a boat towing a marine magnetique sensor to find wrecks.

Published
2020
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2. Characterizing Sliding Surfaces of Cyber-Physical Systems

Author

Fabrice Le Bars, Luc Jaulin, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)

Subjects
0209 industrial biotechnology, Information Systems and Management, Computer science, 02 engineering and technology, Management Science and Operations Research, Classification of discontinuities, Theoretical Computer Science, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Sailboats, [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Computer Science (miscellaneous), Interval analysis, Electrical and Electronic Engineering, business.industry, Cyber-physical system, Robotics, Sliding surface, Trajectory, Piecewise, Robot, 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Artificial intelligence, business, Software
Abstract

International audience; When implementing a non-continuous controller for a cyber-physical system, it may happen that the evolution function of the closed-loop system is not anymore piecewise continuous along the trajectory, mainly due to if statements inside the control algorithm. As a consequence, an unwanted chattering effect may occur. This behavior is often difficult to observe even in simulation. We propose here a set-membership method based on interval analysis to detect different types of discontinuities. One of them is the sliding surface where the state trajectory jumps indefinitely between two distinct behaviors. As an application, we consider the validation of a sailboat controller. We show that our approach is able to detect and explain some unwanted sliding effects that may be observed in rare and specific situations on our actual sailboat robots.

Published
2020
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3. Robust polygon-based localization

Author

Guilherme Schvarcz Franco, Fabrice Le Bars, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)

Subjects
Intersection (set theory), Computer science, Probabilistic logic, Probability density function, 02 engineering and technology, Interval (mathematics), Robotics, Rangefinders, Interval arithmetic, Set (abstract data type), Computer Science::Robotics, 020204 information systems, Localization, Polygon, 0202 electrical engineering, electronic engineering, information engineering, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, Algorithm, Interval Analysis
Abstract

International audience; The current work presents an approach that is able to estimate the pose of a robot even when all rangefinder measurements are originated by unknown obstacles. This approach exploits the shape of the boundaries of an environment, displaced according to the rangefinder measurements, to determine the set of possible poses the robot may have. By using interval analysis to compute its estimation, this method suits well to scenarios where no knowledge about the probabilistic density function of the measurements is provided. Comparing to classical interval approaches, this method does not expect that the robot has a perfect knowledge of the environment. This way, this approach can compute a feasible estimation even in presence of unknown obstacles without using time-consuming techniques such as Q-Relaxed Intersection or GOMNE. For validation, we present a comparison between the proposed method in this paper to a classical interval approach to the robot's localization problem.

Published
2018
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4. Estimating the Trajectory of Low-Cost Autonomous Robots Using Interval Analysis: Application to the euRathlon Competition

Author

Elba Antonio, Luc Jaulin, Carlos H. de la Cruz, Fabrice Le Bars, Jorge Cervantes, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-Institut Mines-Télécom [Paris] (IMT)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL), Laboratoire Franco-Mexicain d'Informatique et d'Automatique (LAFMIA), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Centro de Investigacion y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV)-Université de Technologie de Compiègne (UTC)-Consejo Nacional de Ciencia y Tecnología [Mexico] (CONACYT)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]), and Luc Jaulin

Subjects
0209 industrial biotechnology, SIMPLE (military communications protocol), Computer science, business.industry, Ranging, Robotics, Control engineering, 0102 computer and information sciences, 02 engineering and technology, 01 natural sciences, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, Competition (economics), [SPI]Engineering Sciences [physics], 020901 industrial engineering & automation, 010201 computation theory & mathematics, Trajectory, Robot, Artificial intelligence, business, Envelope (motion)
Abstract

International audience; In this paper, we describe a method based on interval arithmetic and contractors to compute an envelope containing the trajectory of a robot from usual proprioceptive and exteroceptive data, using a simple state equation model. To illustrate the applicability of the method, data from the euRathlon 2015, a multi-domain robotics competition, will be processed to build an estimation of the trajectory of a low-cost AUV (Autonomous Underwater Vehicle), navigating with the help of acoustic communication and ranging with an ASV (Autonomous Surface Vehicle).

Published
2018
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5. Calcul garanti de trajectoires de robots

Author

Luc Jaulin, Sandor M. Veres, Fabrice Le Bars, Lyudmila Mihaylova, Simon Rohou, Lab-STICC_ENSTAB_CID_PRASYS, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-Université Bretagne Loire (UBL)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT), Pôle STIC_OSM, École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), University of Sheffield [Sheffield], and This work has been supported by the French Direction Générale de l’Armement (DGA) during the UK-France PhD program.

Subjects
0209 industrial biotechnology, Mathematical optimization, ODE, Computer science, Differential equation, General Mathematics, Constraint (computer-aided design), [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], 02 engineering and technology, tube programming, [SPI.AUTO]Engineering Sciences [physics]/Automatic, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], contractors, 020901 industrial engineering & automation, Differential inclusion, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Differential (infinitesimal), Flexibility (engineering), guaranteed integration, business.industry, Ode, Robotics, Mobile robot, Computer Science Applications, mobile robotics, Control and Systems Engineering, Robot, 020201 artificial intelligence & image processing, Artificial intelligence, business, constraints, Software, [MATH.MATH-NA]Mathematics [math]/Numerical Analysis [math.NA]
Abstract

This paper proposes a new method for guaranteed integration of state equations. Within this framework, the variables of interest are trajectories submitted to both arithmetic and differential equations. The approach consists in formalizing a problem thanks to a constraint network and then apply these constraints to sets of trajectories. The contribution of the paper is to provide a reliable framework to enclose the solutions of these differential equations. Its use is shown to be simple, more general and more competitive than existing approaches dealing with guaranteed integration, especially when applied to mobile robotics. The flexibility of the developed framework allows to deal with non-linear differential equations or even differential inclusions built from datasets, while considering observations of the states of interest. An illustration of this method is given over several examples with mobile robots. A contractor-based approach is proposed for guaranteed integration of state equations.The framework is based on the use of tubes as envelopes of feasible trajectories.A dedicated differential contractor is provided to deal with dynamical systems.The use of tubes is well suited for multi-differential and non-linear equations.An illustration of this approach is given over several mobile robotics examples.

Published
2017
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6. Complex Robot Behavior Creation Using Vector Fields

Author

Fabrice Le Bars, Emmanuel Rouault, Benoît Raymond, and Alaa El Jawad

Subjects
Computer science, business.industry, Grid, Topology, Base (topology), Computer Science::Robotics, Control theory, Robot, Vector field, Computer vision, Artificial intelligence, Motion planning, Behavior-based robotics, Linear combination, business
Abstract

In term of motion planning for robots, several solutions are possible: grid-based search [1], interval-based search [2], geometric algorithms and potential fields [3]. However, potential fields offer a computational efficient way to generate a desired behavior for robots. However, a principal limit of potential fields is that they deal only with repulsion and attraction. To extend it to perpendicular, tangential and uniform fields, we base our paper on the works of S. Schmitt [4] and R. Arkin [3]. Our contribution consist in developing a method to construct complex vector fields, which are a linear combination of primitive fields. It also explains how to implement this method on a robot using the middleware ROS (Robot Operating System) with any controller.

Published
2016
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7. Obstacle Avoidance for an Autonomous Marine Robot—A Vector Field Approach

Author

Silke Schmitt, Fabrice Le Bars, Thomas Latzel, and Luc Jaulin

Subjects
Control algorithm, Automatic Identification System, law, Computer science, Simple (abstract algebra), Control theory, Obstacle avoidance, Robot, Vector field, GeneralLiterature_MISCELLANEOUS, Control methods, Euclidean vector, law.invention
Abstract

A marine robot, especially a sailing boat robot, is exposed to a dynamic environment. This paper presents a simple and efficient obstacle avoidance control algorithm. The presented control method uses vector fields to regulate the marine robot.

Published
2016
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8. The World Robotic Sailing Championship, a competition to stimulate the development of autonomous sailboats

Author

Fabrice Le Bars, Luc Jaulin, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Lab-STICC_ENSTAB_CID_IHSEV, Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), and Billon-Coat, Annick

Subjects
Engineering, business.industry, Robotics, sailboats, WRSC, [SPI.AUTO]Engineering Sciences [physics]/Automatic, autonomous robots, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Aeronautics, IRSC, Robot, Artificial intelligence, Championship, business
Abstract

International audience; The WRSC (World Robotic Sailing Championship) / IRSC (International Robotic Sailing Conference) is an international and annual competition and conference that aims at stimulating the development of autonomous marine robotics and its applications. The competition, originally designed for sailboats, is also opened to motorboats as a separate category since 2013. In this paper, we will present the competition through the example of the 2013 edition, and show its results, specificities, issues as well as improvements for the next editions

Published
2015

9. Sailboat as a windmill

Author

Luc Jaulin, Fabrice Le Bars, Billon-Coat, Annick, Fabrice Le Bars - Luc Jaulin, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), and Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Engineering, 010505 oceanography, business.industry, autonomous sailboat robot, Control engineering, 02 engineering and technology, 7. Clean energy, 01 natural sciences, Turbine, Power (physics), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Generator (circuit theory), Electric energy, 020901 industrial engineering & automation, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Control theory, Robot, windwill, business, 0105 earth and related environmental sciences, Marine engineering, Windmill
Abstract

International audience; This paper proposes to transform a sailboat robot into a big wind turbine (or windmill) corresponding to the boat itself. The main idea is to make the sailboat rotating as fast as possible. When the wind open the sail, the mainsheet is able to pull a generator in order to produce electric energy. The resulting controller is simple to implement and its parameters are easy to tune. A simulated test-case shows that the proposed technique could generate an average power of approximatively 100W

Published
2013

10. Towing with sailboat robots

Author

Fabrice Le Bars, Luc Jaulin, Billon-Coat, Annick, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), and NUI Galway

Subjects
0209 industrial biotechnology, 010505 oceanography, Computer science, Proportional control, 02 engineering and technology, Object (computer science), 01 natural sciences, Square (algebra), [SPI.AUTO]Engineering Sciences [physics]/Automatic, Arbitrarily large, sailboat robot, 020901 industrial engineering & automation, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Trajectory, Robot, controller, Towing, Energy (signal processing), 0105 earth and related environmental sciences, Marine engineering
Abstract

International audience; Moving huge objects floating at the surface of the ocean (such as containersor icebergs) with boats requires many human operators and a lot of energy.This is mainly due to the fact that when humans operate such equipment, time iscostly. Now, when we have time (as when robots operate, for instance), it is possibleto move arbitrarily large objects, for over long distances, with a limited quantity ofenergy. This is a consequence of the fact that in the water, the friction forces areproportional to the square of the speed (i.e., when we go slowly, we have almostno friction). This paper proposes the use of a sailboat robot to tow large objects. Itshows which control law could be used is order to (i) avoid loops inside the towingcable, (ii) avoid collisions between the robot and the towed object, and (iii) movethe object toward the desired direction. The control law is validated on a simulationwhere the object to be towed has to follow a trajectory corresponding to a largecircle.

Published
2015

11. A Simple Controller for Line Following of Sailboats

Author

Fabrice Le Bars and Luc Jaulin

Subjects
Computer Science::Robotics, Control theory, Simple (abstract algebra), Computer science, Computation, Line (geometry), Robot, Collision avoidance, Power (physics), Interval arithmetic
Abstract

This paper proposes a simple controller for sailboat robots. The resulting controller is simple to implement and its parameters are easy to tune. Its complexity is low enough to be applicable for sailing robots with very limited computation power. The presentation contains all the necessary details to allow a fast and reliable implementation of a sailboat robot controller which follows a line. The paper also presents a simple collision avoidance strategy based on interval analysis.

Published
2013
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12. An experimental validation of a robust controller with the VAIMOS autonomous sailboat

Author

Luc Jaulin, Fabrice Le Bars, Lab-STICC_ENSTAB_CID_IHSEV, OSM, Département STIC [Brest] (STIC), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC), École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS)-École Nationale d'Ingénieurs de Brest (ENIB)-Université de Bretagne Sud (UBS)-Université de Brest (UBO)-Télécom Bretagne-Institut Brestois du Numérique et des Mathématiques (IBNM), Université de Brest (UBO)-Université européenne de Bretagne - European University of Brittany (UEB)-Institut Mines-Télécom [Paris] (IMT)-Centre National de la Recherche Scientifique (CNRS), and Billon-Coat, Annick

Subjects
0209 industrial biotechnology, SIMPLE (military communications protocol), Computer science, Process (computing), Control engineering, 02 engineering and technology, Experimental validation, turbidity, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, sailboat robot, [SPI.AUTO] Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Trajectory, Robot, 020201 artificial intelligence & image processing, Tweaking
Abstract

International audience; A sailboat is a strongly non-linear system that however has been proven to be easily controllable. Indeed, its mechanical design comes from an evolution from thousands of years with two main concerns: having a fast, reliable and ef cient vehicle while being easily controlled by humans. This article describes the functioning, the validation process and the performances of a simple controller, inspired from what navigators do, through tests made on the sailboat robot VAIMOS built by IFREMER for oceanography. This controller requires tweaking few parameters with real physical meaning while ensuring accurate trajectory following, needed to make oceanographic measurements in a speci c area.

Published
2012

13. Interval SLAM for underwater robots; a new experiment

Author

Luc Jaulin, Fabrice Le Bars, Alain Bertholom, Jan Sliwka, Billon-Coat, Annick, Extraction et Exploitation de l'Information en Environnements Incertains (E3I2), École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne), Département STIC [Brest] (STIC), Groupe d'Etudes Sous-Marines de l'Atlantique (DGA/DET/GESMA), and DGA

Subjects
0209 industrial biotechnology, Engineering, underwater robot, constraint propagation, 02 engineering and technology, Interval (mathematics), Simultaneous localization and mapping, localization, Interval arithmetic, [SPI.AUTO]Engineering Sciences [physics]/Automatic, 020901 industrial engineering & automation, set-membership estimation, 0202 electrical engineering, electronic engineering, information engineering, Computer vision, Constraint satisfaction problem, business.industry, Submarine, [SPI.AUTO] Engineering Sciences [physics]/Automatic, SLAM, Local consistency, Robot, Underwater robot, 020201 artificial intelligence & image processing, Artificial intelligence, business, interval analysis
Abstract

International audience; This paper provides a new submarine experiment and shows the results of an interval SLAM (Simultaneous Localization And Mapping) method. The SLAM problem is cast into a constraint satisfaction problem where interval propagation algorithms are particularly efficient. The resulting method is applied to the localization of a submarine robot from the GESMA (Groupe d'Etudes Sous-Marines de l'Atlantique), the Daurade during an experiment in the Douarnenez bay, in Brittany (France).

Published
2010

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